CN102636184A - Specific force-sensitive term calibration method for flexible gyroscope based on centrifuge in environment without angular movement - Google Patents

Specific force-sensitive term calibration method for flexible gyroscope based on centrifuge in environment without angular movement Download PDF

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CN102636184A
CN102636184A CN201210093438XA CN201210093438A CN102636184A CN 102636184 A CN102636184 A CN 102636184A CN 201210093438X A CN201210093438X A CN 201210093438XA CN 201210093438 A CN201210093438 A CN 201210093438A CN 102636184 A CN102636184 A CN 102636184A
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flexible gyroscope
extractor
hydro
axle
counter
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CN102636184B (en
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李保国
张春熹
芦佳振
高爽
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Beihang University
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Abstract

The invention discloses a specific force-sensitive term calibration method for a flexible gyroscope based on a centrifuge in an environment without angular movement, which belongs to the technical field of inertia. The calibration method includes the steps: mounting a follow-up reverse turntable on a table top of the centrifuge and acquiring output pulse data of a sensitive shaft of the flexible gyroscope in an initial static state and under an overload condition; setting the rotation speed of the centrifuge according to overload acceleration selected in advance to obtain output data of the flexible gyroscope under different environmental overload acceleration; and calculating overload term coefficient. By the aid of the calibration method, the relationship between a specific force-sensitive error term and the environmental overload acceleration in a static drift model of the flexible gyroscope can be calibrated, and specific force-sensitive drift errors of the flexible gyroscope are accurately compensated by a table look-up method, so that the influence of the specific force-sensitive errors of the flexible gyroscope on navigation accuracy of a flexible strapdown inertial system is decreased.

Description

Under the acerous movement environment based on the responsive scaling method of the flexible gyroscope specific force of hydro-extractor
Technical field
The invention belongs to the inertial technology field, relate to the scaling method of responsive of a kind of flexible gyroscope specific force, specifically, be meant under the acerous movement environment based on the responsive scaling method of the flexible gyroscope specific force of hydro-extractor.
Background technology
Flexible gyroscope is a kind of mechanical type two-degree(s) of freedom gyroscope, and the machine shaft of its drive motor drives rotor through flexible coupling and makes high speed rotating, and flexible coupling comprises 2 pairs of mutually orthogonal flexible joint axles and 1 gimbal, and is as shown in Figure 1.Since coming out, flexible gyroscope has been widely used in the various Navigation, Guidance and Control system.
In practical application; Exist in the angular velocity measurement value of flexure gyroscope because the drift error that various inside and external factor produce; Generally form by static drift error, dynamic deviation sum of errors Random Drift Error etc.; The major part that is the flexible gyroscope drift error by the kinetic static drift error of line wherein also is flexible SINS main error.Comprised in the flexible gyroscope static drift error mathematic model insensitive drift error item of specific force and the drift error item responsive specific force.
In practical application, the error model of flexure gyroscope can be expressed as:
ω(X) d=K(X) d
+K(X) xa x+K(X) ya y
ω(Y) d=K(Y) d
+K(Y) xa x+K(Y) ya y
Wherein, ω (X) d, ω (Y) d---gyrostatic drift speed error, unit: °/h;
K (X) d, K (Y) d---the constant value drift coefficient, irrelevant with specific force, unit: °/h;
K (X) x,, K (X) y, K (Y) x,, K (Y) y---the responsive coefficient of specific force, unit: (°/h)/g;
a x, a y---along the specific force size of gyroscope corresponding axis, unit: g;
Existing flexible gyroscope or flexible is used to organize that to demarcate what adopt be static multiposition scaling method, utilizes position table to make flexible gyroscope towards certain direction, with earth rotational angular velocity ω eNormal acceleration of gravity g with the locality 0As a reference, unite the error term coefficient that the method for finding the solution calculates flexible gyroscope through a plurality of equations.Static multiposition scaling method can access the constant value drift coefficient and the responsive coefficient of specific force of flexible gyroscope under 0~1g environment, and thinks that this coefficient still keeps linear constant under the high overload environment.During practical application, be used to group when being applied to transship environment greatly when flexible gyroscope or flexible, use ground multiposition static demarcating result to compensate, its actual service precision is usually very far away with calculated value difference.This is likely because due to responsive coefficient of flexible gyroscope specific force taken place to change under big overload environment.
If can accurately obtain the relation of responsive coefficient of the specific force of flexible gyroscope and environment overload through the big overload measurement on ground; Just can, reality accurately compensate the responsive error of specific force of flexible gyroscope when using; Thereby improve the actual navigation performance of flexible SINS, have very important practical value.
Application number is 200810101156.3 Chinese invention patent; A kind of method for standardization of optimum 8 positions of flexure gyroscope is disclosed; Be that flexure gyroscope is installed on the two shaft position rate tables, in specific orientation image data and calculate flexible gyroscope static error compensation model.Through the comparison of gyro to measure value residual sum of square, the more traditional 8 positions method of the result after the coefficient of deviation that utilizes the optimum 8 positions of flexure gyroscope test design method to find the solution compensates has improved 4~8 times.Shortcoming: identical with traditional static multiposition method of testing in fact, can only utilize gravity field as environment overload excitation, the performance parameter of the result who obtains under can only corresponding 1g environment can not get transshipping greatly the exact value of calibration coefficient under the environment.
The Chinese invention patent of Granted publication CN 101377422B; Optimum 24 position calibration methods of a kind of flexure gyroscope static drift error model are disclosed; Be that flexure gyroscope is installed on the three shaft position rate tables; Adopt discrete D-optimal design building method to design, from the whole test space, choose 24 locus orientations as the gyro coordinate system orientation and make an experiment.With respect to the optimum 8 positions method, optimum 24 position tests test can also obtain the relevant coefficient of deviation of acceleration secondary except can demarcating acceleration outlier, the relevant item of acceleration first power.Shortcoming: identical with traditional static multiposition method of testing in fact; Can only utilize gravity field as the excitation of environment overload; Though effect is better than 8 positions, the performance parameter of the result who obtains under can only corresponding 1g environment can not get transshipping greatly the exact value of calibration coefficient under the environment.Be no more than under the environment of 1g, relevant of acceleration secondary is in a small amount, be difficult to effective differentiation with environmental disturbances, thereby result's confidence level is not high.
Application publication number CN 101738203A Chinese invention patent discloses a kind of flexure gyroscope static drift zero degree and primary acceleration continuous item error model optimal position calibration method, is to adopt D-optimum test method for designing to obtain optimum test position.The output that the measured value compensation of under optimal spatial quadrature 12 positions, the optimal spatial quadrature 12 position excursion coefficients that obtain and flexible gyroscope static error compensation model Go being carried out has improved flexure gyroscope effectively.The more traditional 8 positions method of result after the coefficient of deviation that utilizes flexure gyroscope optimal spatial quadrature 12 position test methods for designing to find the solution compensates has improved 4~5 times, increases and the test duration has shortened half the than total space quadrature 24 position test method precision.Shortcoming: though effect is better than the 8 positions of optimization and 24 positions of optimization; But it is identical with traditional static multiposition method of testing in fact; Can only utilize gravity field as the excitation of environment overload; The result who obtains can only be illustrated under the 1g environment, can not get surpassing the exact value of calibration coefficient under the big overload environment of 1g.
Summary of the invention
The objective of the invention is to test through the demarcation under the high overload environment of ground; Obtain the relation of responsive error term coefficient of flexible gyroscope specific force and environment overloading acceleration truly; Realize the fine compensation of the responsive error of flexible gyroscope specific force, reduce of the influence of the responsive error of flexible gyroscope specific force flexible strap down inertial navigation system accuracy.
The responsive scaling method of flexible gyroscope specific force specifically comprises the steps: under the acerous movement environment provided by the invention
The first step: servo-actuated counter-rotating platform (being called for short the counter-rotating platform) is installed on the table top of hydro-extractor, on table top, also is provided with counterweight, and described counterweight is symmetrically distributed on the same diameter of hydro-extractor table top with the counter-rotating platform.On the table top of counter-rotating platform flexible gyroscope is installed, the rotation axis of counter-rotating platform is parallel with the rotation axis of hydro-extractor, and when hydro-extractor rotated with certain rotating speed, counter-rotating platform hydro-extractor was relatively done the reverse direction rotation.The power supply of flexible gyroscope and outputting data signals are connected to power supply and data acquisition computer through the slip ring of counter-rotating platform and hydro-extractor.
Second step: the control interface through hydro-extractor is controlled at hydro-extractor and counter-rotating platform respectively its zero-bit position and keeps static, this moment flexible gyroscope sensitive axes X point to local geographic north to.Then, flexible gyroscope powers up, and 10min is stablized in preheating.
The 3rd step: open the output that the acquisition software in the data acquisition computer begins to gather flexible gyroscope sensitive axes X axle and sensitive axes Y axle, acquisition time is not less than 3min, obtains the output pulse data of flexible gyroscope sensitive axes X axle and sensitive axes Y axle under the initial static;
The 4th step: make hydro-extractor with angular velocity omega t0(unit: °/s) rotation, the counter-rotating platform is with angular velocity-ω t(unit: °/s) rotation, the angular acceleration of the two is ω a, unit: °/s 2The environment overloading acceleration amplitude that the flexible gyroscope sensitive axes is experienced is:
a 0 = ( ω 0 · π 180 ) 2 · R / g 0
Wherein, R is the distance of counter-rotating platform rotation axis to the centrifugal basket moving axis, the m of unit; g 0Be local standard acceleration of gravity, the m/s of unit 2
The 5th step: after hydro-extractor and the counter-rotating platform stabilization of speed, gather the output pulse data 15min of flexible gyroscope sensitive axes X axle and sensitive axes Y axle, obtain the output pulse data of flexible gyroscope sensitive axes X axle and sensitive axes Y axle under the overload condition;
The 6th step: according to the overloading acceleration a that chooses in advance i, i=1,2,3 ... N sets centrifuge speed Repeated for the 4th step and the 5th step, obtain the flexible gyroscope output data under the varying environment overloading acceleration;
The 7th step: after test was accomplished, hydro-extractor and the shutdown of counter-rotating platform stopped data acquisition, the flexible gyroscope outage;
The 8th step: computation overload item coefficient:
The present invention can demarcate the relation between responsive error term of the specific force that comprises in the flexible gyroscope static drift model and the environment overloading acceleration; The responsive drift error of specific force through look-up table fine compensation flexible gyroscope, thus of the influence of the responsive error of flexible gyroscope specific force reduced to flexible strap down inertial navigation system navigation accuracy.
Description of drawings
Fig. 1 is flexible gyroscope mechanical rotor of the prior art and flexible coupling structural representation;
Fig. 2 is the structural representation of the hydro-extractor of the band servo-actuated counter-rotating platform that adopts among the present invention.
Among the figure:
1. hydro-extractor; 2. hydro-extractor table top; 3. counter-rotating platform; 4. counterweight; The counter-rotating platform table top; 6. flexible gyroscope.
Embodiment
Below in conjunction with accompanying drawing and embodiment the present invention is elaborated.
The invention provides under a kind of acerous movement environment based on the responsive scaling method of the flexible gyroscope specific force of hydro-extractor; The hydro-extractor of utilization band servo-actuated counter-rotating platform provides the high overload input for flexible gyroscope, and the projection of high overload input on flexible gyroscope to be tested is axial presents sine or varies with cosine; The method that adopts Fourier series to decompose obtains the responsive error coefficient of a specific force of flexible gyroscope.The concrete steps of this scaling method are following:
The first step: the major equipment that the present invention adopts is the hydro-extractor 1 of band servo-actuated counter-rotating platform 3 (being called for short the counter-rotating platform); As shown in Figure 2; Described counter-rotating platform 3 is installed on the table top 2 of hydro-extractor 1; And on the table top 2 of hydro-extractor 1, also be provided with counterweight 4, described counterweight 4 is symmetrically distributed on the same diameter on the hydro-extractor table top 2 with counter-rotating platform 3.On the table top 5 of counter-rotating platform 3 flexible gyroscope 6 is installed, the rotation axis of counter-rotating platform 3 is parallel with the rotation axis of hydro-extractor 1, and when hydro-extractor 1 rotated with certain rotating speed, counter-rotating platform 3 hydro-extractor 1 was relatively done the reverse direction rotation.Before the testing experiment; The table top 5 of employing horizontal alignment instrument adjustment counter-rotating platform 3 and the table top 2 of hydro-extractor 1 are parallel with surface level; Be installed in flexible gyroscope 6 on the table top 5 of counter-rotating platform 3 through frock then; Make the sensitive axes X of flexible gyroscope 6 all parallel with surface level with sensitive axes Y, the axis of rotation of flexible gyroscope 6 overlaps with the rotation axis of counter-rotating platform 3.The power supply of flexible gyroscope 6 and outputting data signals are connected to power supply and data acquisition computer through the slip ring of counter-rotating platform 3 and hydro-extractor 1.
Second step: the control interface through hydro-extractor 1 is controlled at hydro-extractor 1 and counter-rotating platform 3 respectively its zero-bit position and keeps static, this moment flexible gyroscope sensitive axes X point to local geographic north to.Then, flexible gyroscope powers up, and 10min is stablized in preheating.
The 3rd step: open the output that the acquisition software in the data acquisition computer begins to gather flexible gyroscope sensitive axes X axle and sensitive axes Y axle, acquisition time is not less than 3min, obtains the output pulse data of flexible gyroscope sensitive axes X axle and sensitive axes Y axle under the initial static;
The 4th step: make hydro-extractor 1 with angular velocity omega t0(unit: °/s) rotation, counter-rotating platform 3 is with angular velocity-ω t(unit: °/s) rotation, the angular acceleration of the two is ω a, unit: °/s 2The environment overloading acceleration amplitude that the flexible gyroscope sensitive axes is experienced is:
a 0 = ( ω 0 · π 180 ) 2 · R / g 0
Wherein, R is the distance of counter-rotating platform rotation axis to the centrifugal basket moving axis, the m of unit; g 0Be local standard acceleration of gravity, the m/s of unit 2
The 5th step: after hydro-extractor 1 and counter-rotating platform 3 stabilizations of speed, gather the output pulse data 15min of flexible gyroscope sensitive axes X axle and sensitive axes Y axle, obtain the output pulse data of flexible gyroscope sensitive axes X axle and sensitive axes Y axle under the overload condition;
The 6th step: according to the overloading acceleration a that chooses in advance i, set centrifuge speed I=1,2,3 ... N repeated for the 4th step and the 5th step, obtained the flexible gyroscope output pulse data under the different overloading accelerations.
The 7th step: after test was accomplished, hydro-extractor and the shutdown of counter-rotating platform stopped data acquisition, the flexible gyroscope outage.
The 8th step: computation overload item coefficient:
The flexible gyroscope constant multiplier that obtains with demarcation in advance collected for the 3rd step to the 6th step flexible gyroscope pulsed quantity output data converts angular velocity data to;
To the output data averaged after flexible gyroscope sensitive axes X axle and the conversion of sensitive axes Y axle under the 3rd step initial static.
Output data to after flexible gyroscope sensitive axes X axle and the conversion of sensitive axes Y axle under the 5th step, the 6th step overload environment deducts the output data mean value after corresponding this initial static is changed respectively.
To deducting the different overloading acceleration a of initial static mean value iFlexible gyroscope X axis data D Ij(X) and Y axis data D Ij(Y), difference intercepting data complete cycle, cycle The data number N of intercepting iSatisfy Wherein t is the sampling period, and m is the positive integer greater than 500, Be overloading acceleration a iThe data acquisition time at place; ω iBe the rotating speed of counter-rotating platform, i.e. magnitude of angular velocity, i=1,2,3 ... N; J=1,2,3 ... N i
Flexible gyroscope X axle under each overloading acceleration of intercepting and Y axis data are carried out the Fourier series decomposition computation:
A 0 xi = ( Σ j = 1 N i D ij ( X ) ) / N i , A 0 yi = ( Σ j = 1 N i D ij ( Y ) ) / N i
A 1 xi = 2 ( Σ j - 1 N i D ij ( X ) cos ( jπω i t / 180 ) ) / N i , B 1 xi = 2 ( Σ j - 1 N i D ij ( X ) sin ( jπω i t / 180 ) ) / N i
A 1 yi = 2 ( Σ j = 1 N i D ij ( Y ) cos ( jπω i t / 180 ) ) / N i , B 1 yi = 2 ( Σ j = 1 N i D ij ( Y ) sin ( jπω i t / 180 ) ) / N i
Obtain Fourier series zero degree item A respectively 0xiAnd A 0yi, a cosine harmonics item coefficient A 1xiAnd A 1yiAnd once sinusoidal harmonic term coefficient B 1xiAnd B 1yiWherein,, i=1,2,3 ... N; J=1,2,3 ... N i
Ask for different overloading acceleration a iThe constant value drift K (X) of following flexible gyroscope Di, K (Y) DiWith the responsive K (X) of specific force Xi, K (X) Yi, K (Y) Yi, K (Y) Xi:
K(X) di=A 0xiiecosφ K(Y) di=A 0yi
For X axle: K (X) Xi=A 1xi/ a iFor Y axle: K (Y) Yi=A 1yi/ a i
K(X) yi=-B 1xi/a i K(Y) xi=-B 1yi/a i
Wherein, ω IeBe earth rate, φ is local geographic latitude, to K (X) Di, K (Y) Di, K (X) Xi, K (X) Yi, K (Y) Yi, K (Y) XiWith corresponding overloading acceleration a iTabulate, when using, can obtain the compensation numerical value of flexible gyroscope specific force sensitivity coefficient under the varying environment overloading acceleration through tabling look-up.
Can know through above-mentioned method; The responsive scaling method of flexible gyroscope specific force under the acerous movement environment provided by the invention; The counter-rotating platform makes the relative earth of flexible gyroscope keep acerous motion state with respect to hydro-extractor with fast reverse rotation; Through the change of hydro-extractor with counter-rotating platform rotating speed; Flexible gyroscope is applied overloading acceleration, and the output data of flexible gyroscope is carried out Fourier series decomposition computation and processing, obtain different overloads the constant value drift coefficient and the responsive coefficient of specific force of flexible gyroscope down at last.The present invention can reach the constant value drift coefficient of flexible gyroscope under any overloading acceleration and the purpose that the responsive coefficient of specific force is demarcated; Output to flexible gyroscope compensates according to calibration result when practical application, improves the actual service precision of flexible gyroscope under the high overload environment.

Claims (3)

1. the responsive scaling method of the flexible gyroscope specific force under the acerous movement environment is characterized in that:
The first step: the counter-rotating platform is installed on the hydro-extractor table top of hydro-extractor; On the table top of counter-rotating platform flexible gyroscope is installed; The rotation axis of counter-rotating platform is parallel with the rotation axis of hydro-extractor, and when hydro-extractor rotated with certain rotating speed, counter-rotating platform hydro-extractor was relatively done the reverse direction rotation; The power supply of flexible gyroscope and outputting data signals are connected to power supply and data acquisition computer through the slip ring of counter-rotating platform and hydro-extractor;
Second step: the control interface through hydro-extractor is controlled at hydro-extractor and counter-rotating platform respectively its zero-bit position and keeps static, this moment flexible gyroscope sensitive axes X point to local geographic north to; Then, flexible gyroscope powers up, and 10min is stablized in preheating;
The 3rd step: open the output that the acquisition software in the data acquisition computer begins to gather flexible gyroscope sensitive axes X axle and sensitive axes Y axle, acquisition time is not less than 3min, obtains the output pulse data of flexible gyroscope sensitive axes X axle and sensitive axes Y axle under the initial static;
The 4th step: make hydro-extractor with angular velocity omega t0Rotation, the counter-rotating platform is with angular velocity-ω tRotation, the environment overloading acceleration amplitude that the flexible gyroscope sensitive axes is experienced is:
a 0 = ( ω 0 · π 180 ) 2 · R / g 0
Wherein, R is the distance of counter-rotating platform rotation axis to the centrifugal basket moving axis, the m of unit; g 0Be local standard acceleration of gravity, the m/s of unit 2
The 5th step: after hydro-extractor and the counter-rotating platform stabilization of speed, gather the output pulse data 15min of flexible gyroscope sensitive axes X axle and sensitive axes Y axle, obtain the output pulse data of flexible gyroscope sensitive axes X axle and sensitive axes Y axle under the overload condition;
The 6th step: according to the overloading acceleration a that chooses in advance i, set centrifuge speed I=1,2,3 ... N repeated for the 4th step and the 5th step, obtained the flexible gyroscope output data under the varying environment overloading acceleration;
The 7th step: after test was accomplished, hydro-extractor and the shutdown of counter-rotating platform stopped data acquisition, the flexible gyroscope outage;
The 8th step: computation overload item coefficient.
2. responsive scaling method of the flexible gyroscope specific force under the described acerous movement environment of claim 1, it is characterized in that: also be provided with counterweight on the described hydro-extractor table top, described counterweight is symmetrically distributed on the same diameter on the hydro-extractor table top with the counter-rotating platform.
3. the sharp responsive scaling method of flexible gyroscope specific force that requires under the 1 described acerous movement environment, it is characterized in that: described computation overload item coefficient is specially:
The flexible gyroscope constant multiplier that obtains with demarcation in advance collected for the 3rd step to the 6th step flexible gyroscope pulsed quantity data-switching becomes angular velocity data;
To the output data averaged after flexible gyroscope sensitive axes X axle and the conversion of sensitive axes Y axle under the 3rd step initial static;
Output data to after flexible gyroscope sensitive axes X axle and the conversion of sensitive axes Y axle under the 5th step, the 6th step overload environment deducts the output data mean value after corresponding this initial static is changed respectively;
To deducting the different overloading acceleration a of initial static mean value iFlexible gyroscope X axis data D Ij(X) and Y axis data D Ij(Y), difference intercepting data complete cycle, cycle The data number N of intercepting iSatisfy Wherein t is the sampling period, and m is the positive integer greater than 500, Be overloading acceleration a iThe data acquisition time at place; ω iBe the rotating speed of counter-rotating platform, i.e. magnitude of angular velocity, i=1,2,3 ... N;
Flexible gyroscope X axle under each overloading acceleration of intercepting and Y axis data are carried out the Fourier series decomposition computation:
A 0 xi = ( Σ j = 1 N i D ij ( X ) ) / N i , A 0 yi = ( Σ j = 1 N i D ij ( Y ) ) / N i
A 1 xi = 2 ( Σ j - 1 N i D ij ( X ) cos ( jπω i t / 180 ) ) / N i , B 1 xi = 2 ( Σ j - 1 N i D ij ( X ) sin ( jπω i t / 180 ) ) / N i
A 1 yi = 2 ( Σ j = 1 N i D ij ( Y ) cos ( jπω i t / 180 ) ) / N i , B 1 yi = 2 ( Σ j = 1 N i D ij ( Y ) sin ( jπω i t / 180 ) ) / N i
Obtain Fourier series zero degree item A respectively 0xiAnd A 0yi, a cosine harmonics item coefficient A 1xiAnd A 1yiAnd once sinusoidal harmonic term coefficient B 1xiAnd B 1yiWherein, i=1,2,3 ... N; J=1,2,3 ... N i
Ask for the constant value drift and the responsive item of specific force of flexible gyroscope under the different overloading accelerations:
K(X) di=A 0xiiecosφ K(Y) di=A 0yi
For X axle: K (X) Xi=A 1xi/ a iFor Y axle: K (Y) Yi=A 1yi/ a i
K(X) yi=-B 1xi/a i K(Y) xi=-B 1yi/a i
Wherein, ω IeBe earth rate, φ is local geographic latitude.
CN201210093438.XA 2012-03-31 2012-03-31 Specific force-sensitive term calibration method for flexible gyroscope based on centrifuge in environment without angular movement Active CN102636184B (en)

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CN104655876A (en) * 2015-01-29 2015-05-27 北京航空航天大学 Method for calibrating linear accelerometer under situations of constant acceleration and vibration composite input
CN106197414A (en) * 2015-04-30 2016-12-07 Tcl集团股份有限公司 Angular error detection method, device and equipment
CN106443072A (en) * 2016-09-21 2017-02-22 中国航空工业集团公司北京长城计量测试技术研究所 Centrifugal acceleration field tumbling calibration method for line accelerometer
CN111337053A (en) * 2020-03-27 2020-06-26 中国科学院西安光学精密机械研究所 Method and system for measuring and calibrating dynamic error characteristics of fiber-optic gyroscope

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Cited By (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN104655876A (en) * 2015-01-29 2015-05-27 北京航空航天大学 Method for calibrating linear accelerometer under situations of constant acceleration and vibration composite input
CN106197414A (en) * 2015-04-30 2016-12-07 Tcl集团股份有限公司 Angular error detection method, device and equipment
CN106197414B (en) * 2015-04-30 2019-04-26 Tcl集团股份有限公司 Angular error detection method, device and equipment
CN106443072A (en) * 2016-09-21 2017-02-22 中国航空工业集团公司北京长城计量测试技术研究所 Centrifugal acceleration field tumbling calibration method for line accelerometer
CN106443072B (en) * 2016-09-21 2018-11-20 中国航空工业集团公司北京长城计量测试技术研究所 A kind of centrifugal acceleration field rolling calibration method of linear accelerometer
CN111337053A (en) * 2020-03-27 2020-06-26 中国科学院西安光学精密机械研究所 Method and system for measuring and calibrating dynamic error characteristics of fiber-optic gyroscope
CN111337053B (en) * 2020-03-27 2021-09-14 中国科学院西安光学精密机械研究所 Method and system for measuring and calibrating dynamic error characteristics of fiber-optic gyroscope

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